EP3400451A1 - Apparatus for and method of providing measurements of uncertainty in respect of a transfer function - Google Patents

Abstract

An apparatus is provided that can estimate a transfer function, for example of current measurement systems, voltage measurement systems and power measurement systems, and also provide an estimate of certainty about the transfer function. This enables customers to have confidence that they are not being overcharged for electricity.

Description

CLAIM OF PRTOTTTY

This Application claims the benefit of priority to U.S. Patent Application No. 15/185,603, filed June 17, 2016, which is hereby incorporated by refrence in its entirety. FIELD

The present disclosure relates to an apparatus for estimating a transfer function of a measurement apparatus, and also to providing an estimate of certainty (or uncertainty) relating to the estimate of the transfer function. A method for providing an estimate of certainty in a transfer function is also disclosed. The estimate of certainty (or uncertainty) may be used to control how the estimated transfer function is used or how it is modified or updated.

BACKGROUND

It is often desirable to measure the value of a real world variable. The real world variable may be temperature, pressure, voltage, current flow and the like. In many situations a measurement system provided to measure the real world variable may transform the real world variable into another variable, which is typically an electrical signal For example, when measuring a voltage where that voltage may be a relatively high voltage, it is often desirable to pass the voltage through a potential divider in order to transform it into a voltage range that is convenient for subsequent processing, for example by an analog to digital converter. Thus, the potential divider has a transfer function, both in terms of its attenuation at direct current DC (OHz), and also how the transfer function may vary with frequency. Similarly, if current is to be measured it may be measured by use of a shunt, or a current transformer, amongst other current measuring devices. Again the shunt, transformer or so on has a transfer characteristic such that the input current is transformed to an output value. That output value may then, once again, be processed by subsequent processing circuitry. Other components in the signal path, such as variable gam amplifiers and analog to digital converters also affect the signal, and the whole of the signal processing chain from the sensor to the analog to digital converter can be represented by a combined transfer function.

The provision of a transducer, circuit or other component which exhibits a transfer function means that the output signal is now a function of the unlaiown input signal, which can be regarded as a "measurand" as it represents a quantity which is to be measured, and the transfer function of the measurement circuit. Thus greater uncertainty has been introduced into the output result.

SUMMARY

According to a first aspect of the present disclosure there is provided a transfer function apparatus for establishing a transfer function of at least one measurement apparatus, where the measurement apparatus estimates a value of a measurand, where a known perturbation is made to the measurand and an output of the measurement apparatus is examined to identify a response to the known perturbation, and where the transfer function apparatus estimates uncertainty in the transfer function of the measurement apparatus.

Preferably the measurand is at least one of a current flow in a conductor and a voltage at a measured node of the conductor. It is therefore possible to provide an estimate of the power being consumed by one of more loads having their power supplied via the conductor together with an estimate of the certainty or uncertainty of the power measurement.

The transfer function may be determined for a whole or part of a signal processing chain. Estimating the transfer function for part of the signal processing chain may be appropriate when other parts of the signal chain have a reliable or known/calibrated transfer function. Advantageously the transfer function apparatus is included within a watt-hour meter.

According to a second aspect of the present disclosure there is provided a method of providing a confidence value in a measurand where the measurand is processed by a measurement arrangement having a transfer function, the method comprising providing an estimate of a confidence value for the measurand.

Advantageously the confidence value is based on an estimate of certainty of the transfer function.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure will now be described, by way of non- limiting example only, with reference to the accompanying Figures, in which:

Figure 1 schematically illustrates the components within an electronic watt-hour power meter:

Figure 2 schematically illustrates a potential divider to consider how its transfer function may not be well known;

Figure 3 schematically illustrates one embodiment of an apparatus, as described in WO2014/072773 for overcoming the problem with the unknown transfer function;

Figure 4 schematically represents a second apparatus and waveform as disclosed in WO2014/072733 for measuring voltage;

Figure 5 schematically illustrates the output signal Vo from the apparatus of Figure 4;

Figure 6 schematically illustrates a current measurement apparatus as described in WO2013/038176; Figure 7 shows a block diagram of components in a channel of a transfer apparatus;

Figure 8 shows the evolution of the estimate of transfer function with respect to time; and Figure 9 shows the evolution of uncertainty in the transfer function with respect to time.

DESCRIPTION OF SOME EMBODIMENTS OF THE PRESENT DISCLOSURE

Figure 1 schematically illustrates a power measurement apparatus 10 which may form part of an electricity consumption meter, also known as a watt-hour meter, installed at a point of electrical supply, for example to residential or business premises. In this example a single phase mains alternating current electricity supply 12 having a live conductor 14 and neutral conductor 16 supplies a load 1 8. As is known to the person skilled in the art, the amount of power consumed by the load depends on the voltage between the live and neutral conductors 14 and 16, the current drawn by the load, and a phase angle between the alternating voltage waveform and the alternating current waveform for a sinusoidal voltage current. For more complex waveforms where for example there are significant amounts of harmonic components present in the amount of current drawn, the power consumption should be measured by keeping a running sum of the instantaneous power consumed.

In order to measure the current the power measurement apparatus 10, in this example, has a shunt resistor 20 of nominally known resistance in the conductive path represented by the live supply wire between the load 18 and the electricity supply 12. Typically the shunt resistance is of a very low value, typically in the order of a milli-ohm or so. The voltage dropped across the shunt resistor 20 is proportional to the current passing through it. As a result, the shunt resistance can be regarded as having a current to voltage transfer function. Consequently an estimate of the current in the conductor 14 can be reliably made by a voltage measurement apparatus 22 arranged to measure the voltage across the shunt resistor 20 and to provide its output to a signal processing circuit 24, provided thai the resistance of resistor 20 is well known, or more accurately, providing that the transfer function of the items 20 and 22 are well known. The measurement apparatus 22 ma}'^' include programmable gain amplifiers to change a gain applied to the current signal to allow an analog to digital converter with a modest dynamic range cope with a range of currents from very small to very- large without losing resolution, at least in respect of smaller current flows.

Additionally, a voltage measurement apparatus 26 is provided to measure the voltage difference between the live conductor 14 and the neutral conductor 16. In a domestic environment that voltage would generally be in the range of 115 to 250 volts RMS, and hence may experience peak voltages in excess of 300 volts. Consequently the voltage measurement apparatus 26 often includes a potential divider, as will be discussed in more detail with respect to Figure 2, in order to transform the input voltage from the mains voltage domain to a smaller voltage domain more suitable for signal acquisition by, for example, an analog to digital converter within the voltage measurement apparatus 26. The voltage measurement apparatus may include programmable voltage attenuators and/or programmable amplifiers such that a single design of measurement circuit can be used in installations or countries having different supply voltages. The instantaneous measurements of voltage and current from the voltage measurement apparatus 26 and the current measurement apparatus 20, 22, 24 may be provided to a computational unit 28 adapted to calculate the root mean square power taken by the load 18 from the supply 12, and optionally to multiply that by a tariff such that the consumer who operates load 18 may be appropriately charged for the amount of power that they have received from the electricity source 12. The computational unit 28 may be associated with a real time clock 30 such that each voltage and current measurement is properly- allocated in the time domain for a true and appropriate calculation of power consumption.

Figure 2 schematically illustrates a resistor for potential divider 35 receiving an input voltage Vin from conductor 14 and dividing it down with reference to the neutral voltage provided at conductor 16. In this example first and second resistors 40 and 42 are connected in series between the conductors 14 and 16. The same current flows through each resistor and hence the output voltage Vo can be related to the input voltage Vin by

Vo = Vin R2 / Rl + R2 where Rl is a value of the resistor 40 and R2 is the value of the resistor 42. Thus the potential divider has a transfer function set by the relative values of resistors Rl and R2. In order to accurately know the voltage one must accurately know the transfer function of the potential di v ider. Ways of determining the transfer functions are known in the prior art and have been described in WO2014/072733 and WO2013/038176 to which the reader is referred for enabling disclosures as to how to estimate the voltage and current transfer functions. However, for ease of reference, examples of those patent applications are included herein. In WO2014/072733 the transfer function for the voltage measurement circuit can be determined by several approaches. One approach as shown in Figure 3, is to provide two resistors 50 and 52 having accurately known values (Rmtl and Rint2) such that either may form a potential divider with an external resistance, Rext, which represents the first resistor 40 in Figure 2. By forming successive potential dividers between resistor 40 and resistor 50, and then resistor 40 and resistor 52 under the control of series connected switches 60 and 62 different divide ratios are formed, and provided that the value of resistors 50 and 52 are well known, then the transfer function of the potential divider can be determined. The switches 60 and 62 are driven in antiphase during calibration, whereas in normal use one switch, for example SW1 is left on whereas the other is off so as to keep the divide ratio of the potential divider nominally constant.

A protection device, such as a Zener diode 65 may be provided to limit the maximum voltage (both forward and reverse) that can occur across the resistors 50 and 52, for example due to a failure of one of the switches 60 and 62, although these are likely to be implemented as field effect transistors. The output voltage Vo is measured by an ADC 68.

Another approach as shown in Figure 4 is to sequentially modify a voltage across a potential divider. It is most conveniently performed by modifying the voltage acting between R2 and the local ground. Such an arrangement is shown in Figure 4 w here the resistors 40 and 42 are again provided in series to create a potential divider. However the end of resistor 42 not connected to the resistor 40 can sequentially be connected to the ground, either directly by way of a first switch 70, or to ground by way of a voltage source 74 in series with a second switch 72. T ms, as shown in Figure 5 by sequentially switching switches S I and S2 the voltage at the output of the potential divider is modulated. Given that the value of the voltage 74 is known to within a predetermined level of certainty (as specified by the designer), then provided the value of the second resistor 42 is known then the transfer function of the voltage divider can be determined. Furthermore, it follows that if the voltage 74 can provide two or more controllable output voltages, then the transfer function of the potential divider formed by resistors 40 and 42 can be determined without knowing the value of either resistor 40 or 42. The output voltage Vo is then provided to an analogue to digital converter 68 for conversion into the digital domain before being provided to subsequent circuits, such as a digital filter 24. The voltage source and switches may be associated with, for example, an operational amplifier forming the ground voltage for resistor 42.

The techniques described here, or the other ones disclosed in WO2014/072733 can be used interchangeably in the practice of the present disclosure and are appropriate to either single phase or multiphase systems.

Similarly, as noted with respect to Figure 1 , the transfer function of the current measuring circuit also needs to be known.

A suitable arrangement is shown in Figure 6. Here the shunt resistor 20 is, as shown before with respect to Figure 1 , connected in the current flow path of the live conductor between the source 12 and the load 18. The voltage across the shunt resistor 20 is measured by a voltage measuring circuit 22, for example in the form of an analog to digital converter. In order to determine the transfer function of the current measurement path a current measurement circuit 80 is provided which comprises a controllable current source/current sink which can controliably pass an additional current through the resistor 20. The resistance of the resistor 20 is very low, and hence is susceptible to change as a result of impurities at its contacts, hence the value may be quite uncertain. That additional current, which value is well known and controlled, gives rise to a corresponding voltage change across the resistor 20 which can be measured by the analog to digital converter 22 and then this information can be used to determine the transfer function of the current measurement path. In the arrangement shown in Figure 5 the circuit 80 injects current at one end of the resistor and removes it at the other. Thus, in this arrangement, the current flow may be bidirectional. However, in other arrangements the connection might only be made to the load end of the resistor 20, such that current is drawn through the resistor.

A controllable current source 80 may for example be operated in a substantially binary manner such that it is either on or off. However, as contemplated in WO2013/038176 the current source may also be modulated to a plurality of current values for greater resolution, see for example Figure 17c thereof.

Thus the transfer functions in the voltage measurement domain and the current measurement domain can be estimated, or at least sufficient data to estimate those transfer functions whilst the watt-hour meter is in use can be obtained.

In use the perturbations applied in the voltage measurement circuit and in the current measurement arrangement are generally provided at a known frequency, and at a frequency which is selected on the assumption that it is not a harmonic of the fundamental supply or load frequency. However the performance of the load 18 is not known and it may be electrically noisy. For example the load might be a large computer load having a switch mode power supply which may be noisy , may include fluorescent lighting, or may be an ensemble of devices connected to the load. As a result the frequency spectrum of the current waveforms, and indeed the voltage waveform due to noise propagating back up the conductors towards the power source, raay interfere with the determination of the transfer functions. Indeed, the harmonics from the load represent noise at the perturbation frequency which may cause the estimate of the transfer function to become variable.

The variation in successive estimates of the transfer function and/or noise compared to the perturbation signal can be used to determine a level of confidence, or conversely at a level of uncertainty, in the transfer function and hence in the current, voltage or power measurements made using the apparatus. The uncertaint ' may be determined by looking at the variation in a predetermined number of transfer function estimates, and then by analyzing the scatter between those values, using statistical tools such as T-tests or standard deviations to provide an estimate of confidence or uncertainty. Furthermore, the measurements of confidence or uncertainty (one likely be the obverse of the other) can be used to determine when the perturbation frequencies are inappropriate, for example because they are being interfered with, and can invoke a change, which may be a predetermined change or which may be as a result of searching though the frequency spectrum in order to find a relatively- quiet place, for the perturbation frequency. In some embodiments a weighting may be applied to reduce the influence of spurious results. Thus a difference between a measurement value and a group or average value of an input signal, or of the estimate of the transfer function, as appropriate, may be used to weight the measurement value, with larger differences being given less weight in subsequent calculations. Subsequent calculations may include updating the estimate of the transfer function or modifying the measurement apparatus, for example by adjusting an amplifier gam in the signal path or by adjusting a scaling factor that is applied after the analog to digital conversion. The gain change or scaling factor change can be used to set the response of the system to the perturbation signal to a predetermined value, thereby ensuring that the current and/or voltage measurements remain sufficiently accurate for purpose. The threshold for charging perturbation frequency may be fixed, or it may be dynamic based on previous estimates of certainty or uncertainty,

Outputting the measures of confidence is advantageous for network operators as it may enable diagnostic operations to be performed. For example, if the measures of confidence from one or more power meter units show a systematic variation with time, for example such that at certain times of the day the confidence is high, but at other times of the day the confidence is low, then the power supply operator may deduce that a noisy load is being used. It might prompi further investigation as to whether the load is an acceptable load for connection onto the network. Furthermore the measures of confidence may also be used when assessing consumers' bills, the measures of confidence being correlated with the corresponding power measurements in order to ensure that the power supply operator or provider does not contravene regulatory requirements concerning not overcharging a consumer. Outputting the measures of confidence along with the measurement of transfer function can allow a decision to be made as to whether to apply the transfer function for a purpose of changing the operation of the measurement system or to adjust a scaling or correction factor. For example when the confidence has exceeded a certain value, the measurement of transfer function could be deemed sufficiently accurate to be used to store as the calibration value, or to be applied directly as part of a real-time tracking algorithm for dynamic compensation of the transfer function. . Thus if a transfer function seems wrong, for example because the size of the current perturbation signal as extracted during the signal processing is repeatedly, say, 99.3% of the expected value and the estimate of uncertainty associated with the signal is around 0.1 %, then the apparatus may update the scaling factor to be 100/99.3 = 1.007 such that the measurements of current remain accurate.

Figure 7 schematically illustrates the functional blocks within a transfer function measuring apparatus, generally designated 100, and constituting an embodiment of this disclosure. The apparatus 100 is responsive to the output of an ADC such as the ADC 68 which may be included in block 26 of Figure 1 , or the ADC associated with the current measurement channel as represented by block 22 of Figure 1. The output of the ADC may require signal conditioning, for example scaling, windowing or equalizing in order to accommodate for variations in ADC performance, and/or align data for use in subsequent processing, especially w here the data may be collected amongst several channels each similar or identical to that shown in Figure 7, as might be the case in a multiphase system. The signal conditioning can be performed in the digital domain by block 110. The conditioning signal from block 1 10 may then be provided to an extraction circuit 120 which serves to extract the perturbation signal provided by the measurement apparatus. In this context, extraction could be regarded as synonymous with band pass filtering the input signal around the perturbation signal in order to provide a measurement of the perturbation signal to a transfer function calculator 130 and an uncertainty calculator 140. The uncertainty- calculator may work directly with the perturbation signal from the extractor 120 if the transfer function can be assumed or it may additionally or alternatively work with the output from the transfer function calculator.

The uncertainty estimator may determine the value or magnitude of changes in the perturbation signal and/or the relative power of the perturbation signal to other signals as a way of estimating a lower limit of uncertainty in the estimate of uncertainty. Furthermore a lower limit due to component tolerances or ADC resolution may be programmed in the uncertainty estimator

The filtered signal from block 120 may also be provided to an accumulator 150 which may act like a low pass filter, for example serving to sum a series of instantaneous voltage or current measurements into an aggregate value over a larger time period, thereby reducing the computational load of downstream processes.

Although only one channel has been shown in Figure 7, a similar channel may be provided such that a power meter can measure the voltage and current prevailing in a single phase of the supply. Additional channels can be provided for each additional measurement that is required in respect of the or each other phase of the supply. In operation, when the transfer measuring apparatus is switched on it lakes a little while to correctly estimate both the transfer function and the error in the transfer function. The evolution of the transfer function estimate with respect to time is shown in Figure 8. The transfer function estimate for a given run is shown in a solid line, whereas the chain lines denote two accuracy limits. The horizontal chain lines 160 in Figure 8, and again in Figure 9, represents the absolute accuracy limit for the measurement apparatus. This is determined by the accuracy limits of the signal source through manufacturing, test and use, i.e. the uncertainty in the size of the excitation signal. For example the uncertainty may be due to the finite resolution of the test equipment that measures the source, or due to the change in value due to stress when the component is reflowed, or due to the change in the source due to temperature and an unknown temperature coefficient. This error is defined in a given system. Another limit 162 is the accuracy limit during convergence from a finite signal to noise ratio, for example within any amplifier and the ADC within the analog processing chain The uncertainty due to the presence of noise starts off larger but asymptotes towards the absolute accuracy limit and eventually beyond if the noise is uncorrelated and the method of calculation of the transfer function not truncated (e.g. through a leaky integrator of finite length). If another run was made under the same noise conditions it would have a different response, but be within the limits set by the convergence limit 162.

Figure 9 shows the evolution of total error, a combination of convergence error and absolute error, with respect to time, and here, once again, the error in the transfer function, which represents the uncertainty, can start with a relatively large value but decreases in time, again at asymptoting towards the absolute accuracy limit.

The estimate of the transfer function can be updated based on a difference between a preceding estimate of the transfer function, which can be a composite value formed as a running sum of weighted estimates, and a new estimate of the value of the transfer function. The difference can be weighted according to the estimate of uncertainty and then added to the composite value to create a new composite value. If the estimate of uncertainty is too large, the update process may be inhibited, or modified to converge more slowly or to use a default value as an initial value. As an alternative the step size applied to the estimate of the transfer function can be set to predetermined values, i.e. to increase or to decrease a parameter of the transfer function by a predetermined value, where the size of the value may be a function of the estimate of uncertainty and the number of updates which have been applied. As noted before an alternative approach, the estimate of the transfer function of the signal processing chain may be kept unaltered (for example at its "as manufactured" value and a correction factor can be periodically updated with the estimate of uncertainly be used as a controlling factor in deciding whether the correction factor is to be allowed to update or not, and how much weight should be given to recent measurements.

Furthermore the value of the estimate of uncertainty may be used to cause a change in the frequency of the perturbation signal and/or a change in the magnitude of the perturbation signal in order to improve the observability of the perturbation signal.

The apparatus described herein ca be implemented solely within the digital domain, either by dedicated hardware or by suitable code running in conjunction with a processor unit. A processor need not run that fast, and clock speeds will be few tens of MHz are more than adequate for performing the computational tasks required in real time. In testing the inventors have built and run power measurement systems with an accuracy of 0.2%. From a cold start, the system has estimated the transfer function to within 0.5% after 30 seconds, and improving to 0.25% accuracy within 128 seconds. In this context, "cold start" means that the system has not kept any knowledge of previous estimates of the transfer function of the potential divider or the current measurement transducer.

If the system has a record of previous estimates, then a sudden change in the transfer function or the estimate of uncertainty or he correction factor may be indicative of a fault condition (which could include malicious attempts to defeat the measurement apparatus) which can be flagged for attention. Data can be stored or transmitted for analysis which may examine the evolution of the transfer function, uncertainty value or correction factor over time to look for faults, tampering or other events that have perturbed the operation of the power meter.

It is thus possible to provide a system for estimating the goodness or confidence of a transfer function, and to a measurement apparatus, for example a voltage measurement arrangement, a current measurement arrangement and/or a power measurement arrangement where a value of the measurand and an estimate of confidence in that value can be output.

The claims presented here are in single dependency format suitable for filing at the US PTO, but it should be considered that each claim can depend on any other preceding claim of the same type, except where that is clearly unfeasible.

Claims

A transfer function apparatus for estimating a transfer function of at least one measurement apparatus or a correction factor to be applied to the apparatus, where the measurement apparatus estimates a value of a measurand, where a known perturbation is made to the measurand and an output of the measurement apparatus is examined to identify a response to the known perturbation, and where an estimate of uncertainty in the transfer function or correction factor is made available.

A transfer function apparatus as claimed in claim I, in which the estimate of uncertainly is calculated by examining a variation in a series of estimates of the transfer function or correction factor in response to the known perturbation.

A transfer function apparatus as claimed in claim 2 in which the estimate of uncertainty is calculated from applying a standard deviation calculation to a set of results.

A transfer function apparatus as claimed in any one of claims 1 through 3 in which either: a) a difference between an estimate of the correction factor and a composite value of the correction factor is used to determine a weighting to be applied to an estimate of the correction factor when used to modify the composite value; or b) an old estimate of the correction factor is overwritten with a new estimate of the correction factor when an estimate of uncertainty is below an update threshold.

A transfer function apparatus as claimed in any one of claims 1 through 4 in winch the estimate of uncertainty is used to modify the known perturbation or to initiate a change in the known perturbation when the uncertainty changes at a rate greater than a predetermined rate or exceeds a threshold.

6. A transfer function apparatus as claimed in claim 5 in which the threshold is a dynamic threshold based on previous measurements of uncertainty.

7. A transfer function apparatus as claimed in claim 5 in which the threshold is a predetermined threshold.

8. A transfer function apparatus as claimed in claim 5 in which the change in the known perturbation is changing the frequency of the known perturbation.

9. A transfer function apparatus as claimed in claim 8 in which the change in frequency is performed to move to a frequency with reduced noise or harmonic energy at that frequency. 10. A transfer function apparatus as claimed in any one of claims 1 through 9, in combination with a measurement apparatus arranged to measure at least one of voltage and current.

11. A transfer function apparatus as claimed in any one of claims 1 through 10, in which one or more of the transfer function, the correction factor and the estimate of uncertainty are analyzed by a processor to perform at least one of calibration checking, fault diagnosis and tamper detection.

12. A transfer function apparatus as claimed in any one of claims 1 through 11, in which at least one of a) the transfer function, b) the correction factor and c) the estimate of uncertainty is transmitted to a remote entity for analysis to perform at least one of calibration checking, fault diagnosis and tamper detection.

13. A transfer function apparatus as claimed in any one of claims 1 through 12, in which the estimate of uncertainty is used to control at least one of: the modification or update of the transfer function; the uses that the transfer function can be validly used for; a modification or update of the correction factor, and whether the estimate of the transfer function or correction factor that is output from the transfer function apparatus is replaced by a default value.

A transfer function apparatus as claimed in claim 13 in which updating of the transfer function or the correction factor is inhibited if the estimate of uncertainty exceeds a threshold value.

A transfer function apparatus as claimed in any one of claims 1 through 14, included in or in combination with a watt-ho r meter.

A transfer function apparatus as claimed in claim 15, included in or in combination with the watt-hour meter, where estimates of current in a phase of a power supply and voltage of the phase of a power supply are formed based on estimates of the transfer functions of or correction factors for a voltage transducer and a current transducer.

A transfer function apparatus as claimed in arty one of claims 15 or 16, included in or in combination with the watt-hour meter, where the meter is associated with a multiphase or split phase supply, and estimates of voltage and current are made for each of the phases.

A method of providing a confidence value in a measurand where the measurand is processed by a measurement arrangement having a transfer function, the method comprising providing an estimate of the measurand and a confidence value for the measurand based on an estimate of certainty of the transfer function.

A method as claimed in claim 18, further comprising applying a perturbation to the measurand, identifying a change in an output from the measurement arrangement as a consequence of applying the perturbation, estimating the transfer function based on the change and the perturbation, and estimating a confidence value for the transfer function based on an analysis of variation in the estimate of the transfer function. A method as claimed in claim 19, in which the analysis of variation comprises forming one of a standard deviation, a t-test, or other suitable substantial analysis,

A method as claimed in any one of claims 19 or 20, further comprising changing a parameter of the perturbation if the estimate of confidence is not within an acceptable range of values.

A method as claimed in any one of claims 19 ihrough 21, in which a parameter of the perturbation is the frequency of a perturbation and/or an amplitude of the perturbation.

A method as cl aimed in any one of claims 19 through 22 in which the estimate of confidence is used for at least one of the following: a) controlling an update of the transfer function; b) controlling or modifying the process for estimating the certainty of the transfer function; and c) flagging a potential fault condition.